/PROG  PICK_TWICE
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "";
PROG_SIZE	= 879;
CREATE		= DATE 12-11-19  TIME 20:29:16;
MODIFIED	= DATE 13-05-06  TIME 10:35:40;
FILE_NAME	= ;
VERSION		= 0;
LINE_COUNT	= 17;
MEMORY_SIZE	= 1315;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/MN
   1:  JMP LBL[1] ;
   2:  DO[11]=OFF ;
   3:  DO[12]=ON ;
   4:J P[1:PICK_R] 10% FINE ACC10    ;
   5:J P[2:DROP] 10% FINE ACC10    ;
   6:J P[3:DROP_R_POSN] 10% FINE ACC10    ;
   7:  DO[12]=OFF ;
   8:  LBL[1] ;
   9:  PR[98]=P[1]    ;
  10:  PR[99]=P[2]    ;
  11:  PR[100]=P[3]    ;
  12:  R[100]=PR[99,1]-PR[100,1]    ;
  13:  R[101]=PR[99,2]-PR[100,2]    ;
  14:  R[102]=PR[99,6]-PR[100,6]    ;
  15:  PR[98,1]=PR[98,1]+R[100]    ;
  16:  PR[98,2]=PR[98,2]+R[101]    ;
  17:  PR[98,6]=PR[98,6]+R[102]    ;
/POS
P[1:"PICK_R"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2455.398  mm,	Y =   836.078  mm,	Z = -1093.993  mm,
	W =  -179.864 deg,	P =    -1.381 deg,	R =   -71.676 deg
};
P[2:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2704.852  mm,	Y = -3548.198  mm,	Z = -1048.121  mm,
	W =   179.800 deg,	P =     -.532 deg,	R =   -81.123 deg
};
P[3:"DROP_R_POSN"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2542.644  mm,	Y = -3411.325  mm,	Z = -1079.962  mm,
	W =   179.800 deg,	P =     -.534 deg,	R =   -70.793 deg
};
/END
